Control of a biped robot in the double-support phase

Author

Shih, Ching-Long ; Gruver, William A.

Author_Institution

Center of Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA

Volume

22

Issue

4

fYear

1992

Firstpage

729

Lastpage

735

Abstract

The development and implementation of an advanced control system for a seven-link, 12-degree-of-freedom, biped robot in the double-support phase are addressed. A constrained dynamic model of the biped robot is formulated and a reduced order model for the double-support phase is derived. In this model the dependent variables are related to the independent variables through the kinematic Jacobian. Control strategies based on feedforward compensation and linear state feedback are derived for tracking specified joint trajectories. The approach is demonstrated using results of a sway motion obtained from a prototype biped robot that has been constructed

Keywords

dynamics; feedback; kinematics; mobile robots; position control; biped robot; constrained dynamic model; double-support phase; feedforward compensation; joint trajectory tracking; kinematic Jacobian; linear state feedback; mobile robot; reduced order model; sway motion; Control systems; Gravity; Jacobian matrices; Legged locomotion; Linear feedback control systems; Manufacturing systems; Reduced order systems; Service robots; State feedback; Trajectory;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9472

Type

jour

DOI

10.1109/21.156585

Filename

156585